CN101515758A - Device for protecting a speed controller against overcurrent - Google Patents
Device for protecting a speed controller against overcurrent Download PDFInfo
- Publication number
- CN101515758A CN101515758A CNA2009101307745A CN200910130774A CN101515758A CN 101515758 A CN101515758 A CN 101515758A CN A2009101307745 A CNA2009101307745 A CN A2009101307745A CN 200910130774 A CN200910130774 A CN 200910130774A CN 101515758 A CN101515758 A CN 101515758A
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- Prior art keywords
- voltage
- electronic switch
- controller
- transistor
- power bus
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/32—Means for protecting converters other than automatic disconnection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
- H02M5/40—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc
- H02M5/42—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters
- H02M5/44—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac
- H02M5/453—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal
- H02M5/458—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/10—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers
- H02H7/12—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers
- H02H7/122—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters
- H02H7/1222—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters responsive to abnormalities in the input circuit, e.g. transients in the DC input
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Protection Of Static Devices (AREA)
- Rectifiers (AREA)
- Power Conversion In General (AREA)
- Inverter Devices (AREA)
- Electronic Switches (AREA)
- Control Of Ac Motors In General (AREA)
- Protection Of Generators And Motors (AREA)
Abstract
The invention relates to a speed controller comprising: a rectifier module (12) for generating a direct voltage on a power bus (10, 11) from an alternating voltage available on an electrical power-supply network (A); a bus capacitor (Cb) connected between a positive line and a negative line of the power bus; and an inverter module (13) powered by the power bus and controlled to deliver an alternating voltage to an electrical load (2); a protection device (14) for protecting the controller against overcurrents linked with voltage variations on the electrical power-supply network (A).
Description
Technical field
The present invention relates to a kind of speed control, this controller has been installed a device that is used to protect, with the overcurrent that produces owing to overvoltage or under voltage in the opposing supply network.
Background technology
In known mode, speed control is connected in the supply network, controls electrical load.It comprises a voltage commutation module as input, is used for the alternating voltage that electric network provides is converted to direct voltage, and provides the power bus that has the positive and negative electrode circuit to the downstream.A filtering capacitor is commonly called bus capacitor, is installed between the positive terminal and negative pole end of power bus.As output, controller comprises an inversion module by power bus power supply, uses electronic switch (as: the igbt transistor switch of being controlled by pulse-width modulation (PMW) mode) direct voltage to be converted to the alternating voltage of amplitude and changeable frequency.
Supply network may be subjected to different types of interference, as overvoltage or under voltage.This interference may be amplitude height, short low-yield interference of duration, or amplitude is low, the high-octane interference of longer duration.If high-octane interference, some components and parts of controller may be damaged as the transistor in the diode in the rectification module, bus capacitor or the inversion module.
Summary of the invention
Therefore the object of the present invention is to provide and a kind ofly can absorb the interference that produces in the electric power network and exempt from the speed control of damage.
This purpose reaches by a speed control, and described speed control comprises:
-as the rectification module of input, it converts the alternating voltage that can get on the supply network on power bus direct voltage;
-be connected the anodal circuit of power bus and the bus capacitor between the negative pole circuit; With
-by the inversion module of power bus power supply, can controlled transmission alternating voltage to electrical load;
It is characterized in that:
-controller comprises a protective device, and it is used for controller is protected the overcurrent that causes with opposing supply network change in voltage;
And it is characterized in that this protective device comprises:
-the first electronic switch, its on the power bus, be connected between rectification module and the bus capacitor;
-the first resistor disposes with parallel way with first electronic switch;
-combiner comprises second electronic switch and second resistor of configured in series, this combiner and the configuration in parallel of first electronic switch and first resistor;
-control device is used to control first electronic switch and second electronic switch.
According to detailed feature, this protective device is configured on the anodal circuit of power bus.
The preferably normal conducting JFET transistor of first electronic switch is made by high band gap energy material such as carborundum.
According to detailed feature, be used to control between the anodal circuit and negative pole circuit that the transistorized control device of JFET is connected power bus.These control device for example comprise the charge pump circuit that can apply control voltage to the JFET transistor.
Second electronic switch preferably often turn-offs type, and the control device of controlling second electronic switch comprises the charge pump circuit that can apply control voltage to second electronic switch.
According to the present invention, control device comprises storage arrangement, is used to store a threshold value, and when the voltage that records at JFET transistor terminal place surpassed this threshold value, JFET transistor controlled device turn-offed.Storage arrangement is preserved a preset time section simultaneously, and at the end of preset time section, if the voltage that JFET transistor terminal place records surpasses described threshold value, second electronic switch is switched on.Storage arrangement can be preserved a threshold value, and when the voltage that records between the anodal circuit of power bus and negative pole circuit surpassed this threshold value, second electronic switch was switched on.
Preferably, controller also comprises and is used to protect rectification module to resist superpotential device.This is used to protect rectification module to resist JFET limit transistor and Zener diode that superpotential device comprises for example normal conducting, and these two devices are connected in parallel between the anodal circuit and negative pole circuit of power bus.In another form, the protection rectification module is resisted superpotential device and is comprised the GMOV variable resistance that is connected between anodal circuit of power bus and the negative pole circuit.
Description of drawings
With reference to the execution mode that provides in the mode of example and described by accompanying drawing, other characteristic and advantage will be described in detail below, and the Fig. 1 in the accompanying drawing has showed the speed control that disposes protective device of the present invention in a kind of mode of simplification.
Embodiment
With reference to accompanying drawing 1, speed control 1 is included as the direct voltage source that power bus provides direct voltage Vdc (for example 200 to 800Vcc even higher, decide according to operating position), and power bus is made of anodal circuit 10 and negative pole circuit 11.Bus capacitor Cb is commonly used to keep constant DC pressure Vdc on the power bus.This bus capacitor Cb is connected between the positive terminal and negative pole end of power bus, and electrolytic capacitor normally.
Among Fig. 1, controller 1 comprises the rectification module 12 as input, is used for the three-phase alternating voltage that rectification comes from outside supply network A (as three-phase 380Vac electric power network).Advantageously, rectification module 12 uses than more cheap, the more reliable diode 120 of thyristor
The present invention puts into controller with protective device 14, resists the overcurrent that is caused by change in voltage among the supply network A with the protection controller.
These overcurrent can result from two kinds of different phenomenons:
-marquis when superpotential, the heavy current surge that bus capacitor Cb produces, it can damage the diode rectifier bridge in the rectification module 12, and the high overvoltage on the power bus, can damage inversion module 13 and bus capacitor Cb;
-after under voltage takes place and when returning normal voltage, bus capacitor Cb also can produce the heavy current surge, and it may damage the diode rectifier bridge in the rectification module 12.
Therefore be necessary to limit the current surge in the rectification module 12, thereby in network A, occur during the overvoltage or take place protecting after the under voltage.
For realizing this purpose, device 14 of the present invention comprises first electronic switch especially, for example JFET, MOSFET or the IGBT electronic switch of a normal shutoff or normal conducting.
First electronic switch is preferably made by the material (also being known as wide bandgap material) of high band gap energy, promptly presents low resistance R under conducting state
Dson, and can stand high voltage (being higher than 1000V), for example carborundum or gallium nitride (GaN).
First electronic switch is the JFET type preferably.The JFET transistor is known electronic power switch, and it comprises a control grid (G), is used for permission or forbids that electric current flows through between drain electrode (D) and source electrode (S).If the voltage V between grid and the source electrode
GSNear 0, this transistor is called as " normal conducting " type.This means and do not controlling voltage V
GSDown, leakage-source raceway groove conducting.On the contrary, if between grid and source electrode, do not control voltage V
GSDown, the not conducting of raceway groove of leakage-source, such JFET transistor is called as " the normal shutoff " type.
In addition, the JFET transistor of verified normal conducting can provide than other voltage-controlled electronic power switch more performance, as MOSFET, and IGBT or or even the JFET switch of shutoff type often.Specifically, this switch has following concrete advantage: switching speed is faster, (R under the conduction state under the conducting state
DSonBe low resistance) produce conduction loss, better temperature characterisitic still less and have littler size.
Thereby protective device 14 of the present invention preferably includes normal conducting JFET transistor T 1, is made by high band gap energy material such as carborundum or gallium nitride.Transistor T 1 is configured on the anodal circuit 10 of the power bus between rectification module 12 and bus capacitor Cb.Device 14 also comprises first resistor R 1 with transistor T 1 configuration in parallel, and the combiner of being connected and being constituted by second resistor R 2 and second electronic switch, this combiner and transistor T 1 and 1 configuration in parallel of first resistor R.Second electronic switch for example is the normal igbt transistor T2 that turn-offs.
First resistor has the high value of tens ohm of magnitudes, as 70 ohm (can be from 100 ohm to 10 ohm) for the controller resistance of a 4kW, and second resistor has the low resistance of several ohm of magnitudes, as 3 ohm (for the controller of 4kW, resistance is from 5 ohm to 0.5 ohm).
In addition, device of the present invention also comprises control device 140, is used for oxide-semiconductor control transistors T1 and transistor T 2.These control device 140 particularly including be used to determine the switch motion of transistor T 1 and T2 processing unit, be used to store different threshold values storage device, be used for the power supply of oxide-semiconductor control transistors T1 and be used for the power supply of oxide-semiconductor control transistors T2.The power supply that uses for example is a charge pump circuit, the capacitor and the Zener diode in parallel with capacitor that charge from power bus when it is included in circuit precharge.The source that is used for controlling the charge pump circuit of electron transistor T2 is the drain electrode of transistor T 1, and the source of the charge pump circuit of transistor T 1 is the source electrode of transistor T 1 simultaneously.Also can use independent external power source to come oxide-semiconductor control transistors T1 and T2, but in this case, control device 140 is no longer directly powered by power bus, and circuit is therefore no longer independent.In this case, consideration is used normal shutoff transistor T 1 and device 14 of the present invention is configured on the power bus negative line 11 possibly, and between rectification module 12 and bus capacitor Cb.
According to controller 1 whether be in the starting stage precharge, suffer the overvoltage of network or the situation of under voltage, the protective device 14 of controller 1 has following several working method:
-the starting stage:
The electric current of T1 surpasses its restriction electric current in case flow through, and transistor T 1 becomes restriction state.The restriction electric current is enough to two capacitors of the charge pump circuit of transistor T 1 and T2 are charged.In case the capacitor of the charge pump circuit of transistor T 1 is recharged, control device 140 applies the switch motion of voltage with control T1, to charge by 1 couple of bus capacitor Cb of first resistor R.First resistor R 1 has high value, can be so that bus capacitor Cb slowly charges and the function of realization pre-charge circuit.If the voltage Vdc of bus capacitor terminal has surpassed the first threshold value S1 of storage, as 250 volts, to understand oxide-semiconductor control transistors T2 conducting like this and quicken bus capacitor Cb is charged, the resistance of second resistor R, 2 to the first resistor R 1 of connecting with T2 is low.The function of back is optional in device of the present invention.Have under the high capacity situation just meaningful at bus capacitor Cb.
When the voltage V that records when transistor T 1 pin place is 0 once more, mean that also the starting stage finishes.In more detail, if the voltage that transistor T 1 pin place records is 0, mean that this moment, electric current no longer flow through first resistor R 1 or second resistor R 2, so bus capacitor Cb charging is finished.Control device can come oxide-semiconductor control transistors T1 to be in conducting state by disconnecting its power supply, and is adopting under " bus capacitor quick charge " mode, and control T2 is in off state.
-network overvoltage
When producing overvoltage among the supply network A, on bus capacitor Cb, produce the heavy current surge.Therefore flow through the electric current fast rise of transistor T 1, till transistor T 1 becomes restriction state.The resistance of transistor T 1 increases and limits electric current, and this causes the rising of the voltage V that transistor T 1 pin place records.If the voltage V at transistor T 1 pin place has surpassed the second threshold value S2 of storage, for example, be decided to be 3 volts, this timed unit applies a control voltage control to transistor T 1 ends it.Under this situation, electric current then flows through first resistor R 1, and this moment, first resistor R 1 can suffer the influence that overvoltage produces.When overvoltage finished, the voltage that transistor T 1 pin place records turned back to and is lower than the second threshold value S2, and control device comes turn-on transistor T1 by cutting off its power supply.Can reduce maximum restriction electric current by reducing by the second threshold value S2.Transistor T 1 is then becoming restriction state older generation shutoff, and the voltage at its pin place is proportional with the product of the electric current that flows through it with its resistance under conducting state.
-network under voltage
During the supply network of controller is under voltage, transistor T 1 conducting, if electrical load 2 on inverter then bus capacitor Cb discharge, if perhaps electrical load 2 not on inverter bus capacitor Cb do not discharge.After under voltage finishes,,, then do not have current surge and produce if bus capacitor Cb has not been put electricity when it returns in the normal value process.On the contrary, if bus capacitor Cb gives electrical load 2 power supplies and discharge off during under voltage, bus capacitor just must charge before voltage returns normally again, can produce the heavy current surge like this.In order to protect controller component, transistor T 1 changes restriction state into, and it can cause that the voltage V that transistor T 1 pin place records raises.When the voltage V at transistor T 1 pin place has surpassed the second threshold value S2 defined above, during as 3 volts, control device turn-offs transistor T 1.This moment, electric current flow through first resistor R 1.If electrical load 2 on inverter, is then given the electric current of load 2 power supplies and flow through first resistor R 1 together to the electric current that bus capacitor Cb charges again, this can cause first resistor R, 1 persistent fever.If the voltage V that transistor T 1 pin place records is kept above at least one pre-stored time period t of the second threshold value S2, as the 2-3 millisecond, then control device 140 is transistor T 2 conductings, thereby quickens charging process to bus capacitor Cb by the electric current that flows through second resistor R 2.This is because the voltage V at transistor T 1 pin place was kept above for second threshold value S2 a period of time, this means that controller does not run into common temporary overvoltage, but is in after the under voltage and returns in the process of normal value.When the voltage V that measures when transistor T 1 pin place revert under the second threshold value S2, control device 140 was with transistor T 1 conducting.
Above-mentioned different control sequence has realized installing the startup of the protective device of normal turn-on transistor T1.Yet, also should understand the normal situation of turn-offing under the transistor T 1 of using with identical thinking.But in this case, need a special insulating power supply to control normal shutoff transistor T 1 in the control device.
According to the present invention, this device relatively is fit to following occasion, when controller 1 does not comprise any smoothing choke (DC choke) on the power bus, and when bus capacitor have the high capacitance value (as, surpass 80uF/kW) time.
Yet this independent method still has shortcoming, when transistor T 1 is turned off during overvoltage, can produces very big current strength and change (high di/dt) on rectification module 12.The input inductance of controller 1 or line inductance (accompanying drawing 1 is not shown) can be subjected to very strong transient overvoltage, and it may damage the diode rectifier bridge in the rectification module 12.
The energy that produces in order to dissipate can use the avalanche characteristic with transistor T 1.When transistor T 1 surpasses its snowslide thresholding at the voltage V when its pin place, can become conducting state automatically.If in 700 volts of the voltage arrival at bus capacitor pin place and when the diode of rectification module can tolerate 1600 volts of voltages, transistor T 1 must be designed to for example snowslide threshold value and be 800 volts.Yet transistor T 1 also must be designed to be able to absorb from lot of energy in the network A.
In a modification, for the energy that dissipates and produce, can be preferably at decoupling capacitor Cd place, a Gmov variable resistance M1 (drawing) in parallel or the increase normal shutoff JFET transistor T 3 that provides in parallel with Zener diode Z1 with dotted line.Transistor T 3 for example can use its avalanche characteristic or use special control to carry out conducting.
Claims (15)
1, a kind of speed control comprises:
-as the rectification module (12) of input, from supply network (A), obtain alternating voltage, go up at power bus (10,11) and produce direct voltage;
-bus capacitor (Cb) is connected between the anodal circuit and negative pole circuit of power bus; With
-inversion module (13), by the power bus power supply, the controlled delivery alternating voltage is to electrical load (2);
It is characterized in that:
-controller (1) comprises protective device (14), is used for the overcurrent of protecting controller opposing supply network (A) to produce owing to change in voltage;
And, it is characterized in that protective device comprises:
-the first electronic switch is positioned on the power bus, is connected between rectification module (12) and the bus capacitor (Cb);
-the first resistor (R1), configuration in parallel with first electronic switch;
-combiner comprises second electronic switch (T2) and second resistor (R2) of configured in series, and this combiner and first electronic switch and first resistor (R1) dispose in parallel;
-control device (140) is used to control first electronic switch (T1) and second electronic switch (T2).
2, controller according to claim 1 is characterized in that: described protective device (14) is configured on the anodal circuit (10) of power bus.
3, controller according to claim 1 and 2 is characterized in that: described first electronic switch is JFET transistor (T1).
4, controller according to claim 3 is characterized in that: described JFET transistor (T1) is made by carborundum.
5, according to claim 3 or 4 described controllers, it is characterized in that: described JFET transistor (T1) is normal conducting.
6, according to the described controller of one of claim 3 to 5, it is characterized in that: the described control device (140) that is used to control described JFET transistor (T1) is connected between the anodal circuit (10) and negative pole circuit (11) of described power bus.
7, controller according to claim 6 is characterized in that: these control device (140) comprise the charge pump circuit that can apply control voltage to described JFET transistor.
8, according to the described controller of one of claim 3 to 7, it is characterized in that: second electronic switch is normal shutoff type.
9, controller according to claim 8 is characterized in that: but the control device that is used to control second electronic switch comprises that subtend second electronic switch (T2) applies the charge pump circuit of control voltage.
10, according to the described controller of one of claim 3 to 9, it is characterized in that: control device (140) comprises storage device, be used to store a threshold value (S2), when the voltage (V) that records when described JFET transistor (T1) pin place surpassed this thresholding system (S2), described JFET transistor (T1) controlled device (140) turn-offed.
11, controller according to claim 10, it is characterized in that: the predefined time period of memory device stores, at the end of this time period, if the voltage of measuring at JFET transistor (T1) pin place (V) is kept above described threshold value (S2), second electronic switch (T2) is switched on.
12, according to the described controller of one of claim 3 to 11, it is characterized in that: control device (140) comprises storage device, be used to store a threshold value (S1), when the voltage that records between the anodal circuit (10) of power bus and negative pole circuit (11) surpassed this threshold value, second electronic switch (T2) was switched on.
13, according to the described controller of one of claim 1 to 12, it is characterized in that: it has comprised that also protection rectification module (12) resists superpotential device.
14, controller according to claim 13; it is characterized in that: be used to protect the superpotential described device of rectification module (12) opposing to comprise the JFET limit transistor (T3) and the Zener diode (Z1) of normal conducting, these two devices are connected in parallel between the anodal circuit (10) and negative pole circuit (11) of power bus.
15, controller according to claim 13 is characterized in that: be used to protect rectification module to resist superpotential device and comprise GMOV variable resistance (M1), it is connected between the anodal circuit (10) and negative pole circuit (11) of power bus.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0851101A FR2928056B1 (en) | 2008-02-21 | 2008-02-21 | DEVICE FOR PROTECTING A SPEED VARIATOR AGAINST OVERCURRENTS. |
| FR0851101 | 2008-02-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101515758A true CN101515758A (en) | 2009-08-26 |
| CN101515758B CN101515758B (en) | 2012-12-05 |
Family
ID=39938217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101307745A Expired - Fee Related CN101515758B (en) | 2008-02-21 | 2009-02-23 | Device for protecting a speed controller against overcurrent |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US7965484B2 (en) |
| EP (1) | EP2093871B1 (en) |
| JP (1) | JP5638199B2 (en) |
| CN (1) | CN101515758B (en) |
| AT (1) | ATE531118T1 (en) |
| ES (1) | ES2372137T3 (en) |
| FR (1) | FR2928056B1 (en) |
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-
2009
- 2009-02-12 AT AT09152676T patent/ATE531118T1/en not_active IP Right Cessation
- 2009-02-12 ES ES09152676T patent/ES2372137T3/en active Active
- 2009-02-12 EP EP09152676A patent/EP2093871B1/en not_active Not-in-force
- 2009-02-18 US US12/388,099 patent/US7965484B2/en not_active Expired - Fee Related
- 2009-02-23 CN CN2009101307745A patent/CN101515758B/en not_active Expired - Fee Related
- 2009-02-23 JP JP2009039209A patent/JP5638199B2/en not_active Expired - Fee Related
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| CN106936302A (en) * | 2015-12-17 | 2017-07-07 | 格兰富控股联合股份公司 | Electronic circuit and the method for operating electronic circuit |
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| WO2024065783A1 (en) * | 2022-09-30 | 2024-04-04 | Siemens Aktiengesellschaft | Servo motor, control method for same, and servo driver |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2093871A1 (en) | 2009-08-26 |
| US20090212726A1 (en) | 2009-08-27 |
| CN101515758B (en) | 2012-12-05 |
| JP5638199B2 (en) | 2014-12-10 |
| ES2372137T3 (en) | 2012-01-16 |
| EP2093871B1 (en) | 2011-10-26 |
| JP2009213345A (en) | 2009-09-17 |
| ATE531118T1 (en) | 2011-11-15 |
| FR2928056A1 (en) | 2009-08-28 |
| FR2928056B1 (en) | 2010-02-19 |
| US7965484B2 (en) | 2011-06-21 |
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